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生成deb功能包

在功能包目录下，运行下面指令：

bloom-generate rosdebian --os-name ubuntu --ros-distro melodic

fakeroot debian/rules binary

使用教程

roslaunch ad_palletizing AD_Palletizing.launch

roslaunch ad_palletizing ZY_AD.launch

功能包

  1. client_ros

通过socket发送照片到中控系统

  1. AN_Vision

识别AR码位姿并通过话题和matt发送出去

  1. AN_Mission

通过识别结果控制岸吊抓取集装箱和放置集装箱

  1. test

研发测试程序

说明

0x00： 坐标控制 0x01： 当前位置 0x02： 开始 0x03： 暂停 0x04： 回原点 0x05： 吸 0x06： 放 0x07： 复位x 0x08： 复位y

a: x- d: x+ w: y+ s: y- q: z+ e: z- f: 吸/放 1： x复位 2： y复位 3： 退出键盘控制

/Pall_Running_Topic： 岸吊开始（1）和暂停（0）控制话题

/Pall_Grasp_Topic： 爪的吸（1）和放（0）控制

/Pall_Reset_Topic： 复位（1）

/Pall_POS_SET： 坐标控制[x,y,z,u]

/Pall_GRAB_STATUS: 发布抓取状态

/Pall_CURR_POS: 发布当前位姿话题

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